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Cobots are specially designed robots that use continuously variable transmissions (CVTs) instead of traditional motor driven joints. We believe that cobots are an attractive choice for telerobotic master controllers because they are safe in contact with humans and are able to produce stable high quality virtual surfaces that can constrain the motion of the master to directions suitable for telerobotic task completion. This paper presents the modeling and control of a 3-D powered arm cobot for telerobotic operation. A thorough analysis of kinematics and dynamics is presented. By arranging CVTs in parallel(connected to a common wheel), we get an extra Degree Of Freedom(DOF) in jointspace, which provides more control options. With the additional degree of freedom, a linear speed constraint can be applied. The linear speed constraint decouples the motion(velocity and acceleration) control into two parts: direction of the motion which is controlled by CVTs and magnitude of motion which is controlled by common wheel. A new control strategy, virtual mass control, is developed to facilitate smooth interaction between the user and haptic interface while rendering a virtual mass/inertia. Rendering a mass/inertia if combined with "geometry" "texture"and "hardness" enhances telepresence. Results from experimentation are presented and discussed. Conclusions are made and future work is outlined.
A Dissertation submitted to the Department of Mechanical Engineering in partial fulfillment of the requirements for the degree of Doctor of Philosophy.
Includes bibliographical references.
Carl Moore, Professor Directing Dissertation; Rodney Roberts, Outside Committee Member; David Cartes, Committee Member; Peter Kalu, Committee Member; Patrick Hollis, Committee Member.
Florida State University
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